An industrial robot arm

Abstract

This utility model relates to the field of robotic arm technology, and more particularly to an industrial robotic arm, including a six-axis robotic arm. The six-axis robotic arm is equipped with a pick-and-place mechanism for picking up and placing workpieces. The pick-and-place mechanism includes: an adjustment assembly, including a main frame fixed on the six-axis robotic arm, a guide plate slidably mounted longitudinally inside the main frame, a first cylinder mounted on the outer wall of the guide plate, and the output end of the first cylinder fixed to the upper end of the main frame; symmetrically distributed guide grooves are opened inside the guide plate; several slides are slidably mounted laterally inside the guide plate; cams are rotatably mounted on the outer wall of the slides, and the cams are located inside the guide grooves; a clamping assembly is set on the slides and used to grip the workpieces; the adjustment assembly enables synchronous equidistant adjustment of multiple clamping units, which can adapt to the precise positioning of workpieces of different sizes; the clamping assembly completes stable clamping, and in conjunction with a pre-positioning device, ensures uniform force distribution, realizing the function of efficient gripping and precise positioning of multiple workpieces.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to an industrial robotic arm. Background Technology

[0002] Industrial robotic arms, as core equipment in modern intelligent manufacturing, have been widely used in industrial fields such as automobile manufacturing, electronic assembly, and logistics sorting. Through multi-degree-of-freedom joint structures and precision control systems, they achieve complex spatial trajectory movements, playing a crucial role in improving production efficiency and ensuring process quality. With the continuous improvement of industrial automation, robotic arms are developing towards higher precision, stronger adaptability, and greater intelligence, becoming an important infrastructure for smart factories in the Industry 4.0 era. According to CN217894373U, a pipe feeding and clamping robotic arm is disclosed. This technology discloses "a pipe feeding and clamping robotic arm, including a bracket, two arc-shaped plates installed on the surface of the bracket, limiting devices on both sides of the bracket, the limiting devices including a sliding plate, the sliding plate horizontally sliding through the side wall of the bracket, a baffle fixedly connected to one side of the sliding plate, a clamping plate fixedly connected to the side wall of the sliding plate, a square groove opened on the surface of the clamping plate, a support plate fixedly connected to the arc surface of the arc-shaped plate, a square rod vertically sliding through the support plate, a rectangular plate fixedly connected to the upper surface of the square rod, the size of the square rod matching the size of the square groove on the clamping plate, a guide hole opened on the arc surface of the arc plate, and the baffle slidingly connected to the inner wall of the guide hole on the arc plate." This technical solution has the technical effect of "solving the problem of not being able to use a pipe clamping robotic arm to clamp various types of pipes for feeding effectively." Existing industrial robotic arms have significant problems when gripping multiple workpieces simultaneously: due to the lack of adaptive adjustment function in the gripping mechanism, they cannot automatically adjust the spacing of each gripping point according to the different sizes of the workpieces. This leads to mismatched gripping positions and uneven force when gripping workpieces of different diameters, which affects gripping stability and limits the robotic arm's adaptability to workpieces of different specifications. Utility Model Content

[0003] To address the shortcomings of existing technologies, this utility model provides an industrial robotic arm that enables synchronous and equidistant adjustment of multiple gripping units through an adjustment component, allowing for precise positioning of workpieces of different sizes. The gripping component achieves stable gripping, and the pre-positioning device ensures uniform force distribution, enabling efficient gripping and precise positioning of multiple workpieces.

[0004] To achieve the above objectives, this utility model provides the following technical solution: an industrial robotic arm, comprising a six-axis robotic arm, wherein the six-axis robotic arm is equipped with a pick-and-place mechanism for picking up and placing workpieces, the pick-and-place mechanism comprising: The adjustment assembly includes a main frame fixed on a six-axis robotic arm. A guide plate is longitudinally slidably installed inside the main frame. A first cylinder is installed on the outer wall of the guide plate, and the output end of the first cylinder is fixed to the upper end of the main frame. Symmetrically distributed guide grooves are opened inside the guide plate. Several carriages are laterally slidably installed inside the guide plate. A cam is rotatably installed on the outer wall of the carriage, and the cam is located inside the guide groove. A clamping assembly, mounted on a carriage, is used to grip the workpiece.

[0005] Preferably, the adjustment assembly further includes a guide rail fixed inside the main frame, a slider slidably mounted on the guide rail, and a guide plate fixed on the slider.

[0006] Preferably, the adjustment assembly further includes a guide rod fixed inside the main frame, and the carriage is slidably mounted on the guide rod.

[0007] Preferably, the adjacent carriages are arranged in a staggered layout and are staggered in front and behind along the axial direction.

[0008] Preferably, the clamping assembly further includes a mounting bracket fixed to the bottom of the slide, with a shaft bracket fixed at both ends of the mounting bracket, and chucks rotatably mounted on both sides of the outer wall of the shaft bracket. A second cylinder is connected between the upper ends of the two chucks to achieve synchronous opening and closing actions.

[0009] Preferably, the clamping assembly further includes a positioning head fixed to the bottom of the shaft holder for pre-positioning of the workpiece. Beneficial effects

[0010] This invention provides an industrial robotic arm. Compared with the prior art, it has the following advantages: 1. The guide plate is driven to move longitudinally through the output end of the first cylinder. The guide plate, in conjunction with the cam, drives several carriages to move synchronously and equidistantly, thereby achieving synchronous and equidistant adjustment of the spacing between the clamping components on each carriage. This enables the synchronous action of multiple clamping components, thereby stably gripping multiple workpieces at the same time. Furthermore, the relative position of each clamping component can be automatically adjusted according to the actual diameter of the workpiece, ensuring that each clamping point can accurately correspond to the gripping position of the workpiece.

[0011] 2. The linear drive of the second cylinder is directly converted into the rotational motion of the chuck, realizing the efficient execution of the clamping action; the symmetrical layout of the chuck ensures that the workpiece is subjected to uniform force and avoids deviation during the clamping process; in addition, before the clamping action is executed, the positioning head makes pre-contact with the workpiece to achieve precise positioning, ensuring that the chuck can accurately find the optimal clamping position. Attached Figure Description

[0012] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2This is a schematic diagram of the front end of the pickup and placement mechanism in this utility model; Figure 3 This is a schematic diagram of the rear end of the pickup and placement mechanism in this utility model; Figure 4 This is a schematic diagram of the clamping component in this utility model.

[0013] In the diagram: 1. Six-axis robotic arm; 2. Pick-and-place mechanism; 21. Adjustment assembly; 211. Main frame; 212. Guide plate; 213. First cylinder; 214. Guide groove; 215. Slide carriage; 216. Cam; 217. Guide rail; 218. Slider; 219. Guide rod; 22. Clamping assembly; 221. Mounting bracket; 222. Shaft bracket; 223. Chuck; 224. Second cylinder; 225. Positioning head. Detailed Implementation

[0014] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0015] Please see Figure 1 - Figure 4 This utility model provides a technical solution: an industrial robotic arm, including a six-axis robotic arm 1, on which a pick-and-place mechanism 2 is provided for picking up and placing workpieces, the pick-and-place mechanism 2 including: The adjustment assembly 21 includes a main frame 211 fixed on a six-axis robotic arm 1. A guide plate 212 is longitudinally slidably installed inside the main frame 211. A first cylinder 213 is installed on the outer wall of the guide plate 212, and the output end of the first cylinder 213 is fixed to the upper end of the main frame 211. A guide groove 214 is symmetrically distributed inside the guide plate 212. Several slides 215 are laterally slidably installed inside the guide plate 212. A cam 216 is rotatably installed on the outer wall of the slide 215, and the cam 216 is located inside the guide groove 214. The clamping assembly 22 is mounted on the carriage 215 and is used to grip the workpiece.

[0016] In this embodiment, the guide plate 212 is driven to move longitudinally by the output end of the first cylinder 213. The guide plate 212 drives several slides 215 to move synchronously and equidistantly through the guide groove 214 and the cam 216, thereby realizing the synchronous and equidistant adjustment of the spacing between the clamping components 22 on each slide 215. This enables the synchronous action of multiple clamping components 22, thereby stably gripping multiple workpieces at the same time. Furthermore, the relative position of each clamping component 22 can be automatically adjusted according to the actual diameter of the workpiece, ensuring that each clamping point can accurately correspond to the gripping position of the workpiece.

[0017] Specifically, the adjustment assembly 21 also includes a guide rail 217 fixed inside the main frame 211, a slider 218 slidably mounted on the guide rail 217, and a guide plate 212 fixed on the slider 218.

[0018] In this embodiment, the guide plate 212 is ensured to maintain extremely high motion accuracy and stability during longitudinal movement, avoiding jamming or deviation. Through optimized load distribution design, the lateral force generated by the first cylinder 213 during operation is effectively distributed, extending the service life of the mechanism.

[0019] Specifically, the adjustment assembly 21 also includes a guide rod 219 fixed inside the main frame 211, and the slide 215 is slidably mounted on the guide rod 219.

[0020] In this embodiment, the guide rod 219 provides precise and stable guidance for the lateral movement of the carriage 215.

[0021] Specifically, the adjacent carriages 215 are arranged in a staggered layout and are staggered in front and behind along the axial direction.

[0022] In this embodiment, the staggered structural design effectively increases the working space between adjacent clamping components 22, avoiding interference problems when multiple workpieces are gripped simultaneously; ensuring that each clamping component 22 can obtain the optimal working angle and operating space, and improving the adaptability when gripping workpieces of different sizes.

[0023] Specifically, the clamping assembly 22 also includes a mounting bracket 221 fixed to the bottom of the slide 215. Both ends of the mounting bracket 221 are fixed with shaft brackets 222. Both sides of the outer wall of the shaft bracket 222 are rotatably mounted with chucks 223. A second cylinder 224 is connected between the upper ends of the two chucks 223 to achieve synchronous opening and closing.

[0024] In this embodiment, the linear drive of the second cylinder 224 is directly converted into the rotational motion of the chuck 223, thus achieving efficient execution of the clamping action; the symmetrically arranged chuck 223 ensures that the workpiece is subjected to uniform force and avoids deviation during the clamping process.

[0025] Specifically, the clamping assembly 22 also includes a positioning head 225 fixed to the bottom of the shaft holder 222 and used for pre-positioning the workpiece.

[0026] In this embodiment, before the clamping action is performed, the positioning head 225 makes pre-contact with the workpiece to achieve precise positioning, ensuring that the chuck 223 can accurately find the optimal clamping position.

[0027] The working principle and usage process of this utility model are as follows: First, the output end of the first cylinder 213 drives the guide plate 212 to move longitudinally. The guide plate 212, through the guide groove 214 and in conjunction with the cam 216, drives several slides 215 to move synchronously and equidistantly, thereby realizing the synchronous and equidistant adjustment of the spacing between the clamping components 22 on each slide 215; it can realize the synchronous action of multiple clamping components 22, thereby simultaneously and stably gripping multiple workpieces; and, according to the actual diameter of the workpiece, it can automatically adjust the relative position of each clamping component 22 to ensure that each clamping point can accurately correspond to the gripping position of the workpiece. Then, the linear drive of the second cylinder 224 is directly converted into the rotational motion of the chuck 223, realizing the efficient execution of the clamping action; the symmetrical layout of the chuck 223 ensures that the workpiece is subjected to uniform force and avoids deviation during the clamping process; and before the clamping action is executed, the positioning head 225 makes pre-contact with the workpiece to achieve precise positioning, ensuring that the chuck 223 can accurately find the best clamping position.

[0028] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0029] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An industrial robot arm comprising a six-axis robot arm (1), characterized in that: The six-axis robotic arm (1) is equipped with a pick-and-place mechanism (2) for picking up and placing workpieces. The pick-and-place mechanism (2) includes: The adjustment assembly (21) includes a main frame (211) fixed on a six-axis robotic arm (1). A guide plate (212) is longitudinally slidably installed inside the main frame (211). A first cylinder (213) is installed on the outer wall of the guide plate (212), and the output end of the first cylinder (213) is fixed to the upper end of the main frame (211). A guide groove (214) is symmetrically distributed inside the guide plate (212). Several slides (215) are laterally slidably installed inside the guide plate (212). A cam (216) is rotatably installed on the outer wall of the slide (215), and the cam (216) is located inside the guide groove (214). A clamping assembly (22) is mounted on a carriage (215) and is used to grip the workpiece.

2. The industrial robot arm of claim 1, wherein: The adjustment assembly (21) also includes a guide rail (217) fixed inside the main frame (211), a slider (218) is slidably mounted on the guide rail (217), and a guide plate (212) is fixed on the slider (218).

3. The industrial robot arm of claim 1, wherein: The adjustment assembly (21) also includes a guide rod (219) fixed inside the main frame (211), and the slide (215) is slidably mounted on the guide rod (219).

4. The industrial robot arm of claim 1, wherein: The adjacent carriages (215) are arranged in a staggered layout and are staggered in front and behind along the axial direction.

5. The industrial robot arm of claim 1, wherein: The clamping assembly (22) also includes a mounting bracket (221) fixed to the bottom of the slide (215). Both ends of the mounting bracket (221) are fixed with shaft brackets (222). Both sides of the outer wall of the shaft bracket (222) are rotatably mounted with chucks (223). A second cylinder (224) is connected between the upper ends of the two chucks (223) to achieve synchronous opening and closing.

6. An industrial robot arm according to claim 5, characterized in that: The clamping assembly (22) also includes a positioning head (225) fixed to the bottom of the shaft frame (222) and used for pre-positioning of the workpiece.

Images